Distributed Self-Reconfiguration of M-TRAN III Modular Robotic System

Downloadable Files

Self-reconfiguration experiment using
10 modules controlled by a single master - 1.wmv (2.3mb)

Self-reconfiguration experiment by a single master control. A linear structure made of 8 modules climbed a step. The step was not detected by sensors and the whole motion control was open-loop with predefined trajectory - 2.wmv (2.5mb)

A linear structure made of 16 modules moved forward. All the modules have the same program and worked in parallel as masters or slaves - 3.wmv (1.3mb)

A mesh structure made of 24 (and 20) modules moved forward conducted by multi-master modules. Surface connections were changed more than 300 times during a 15-min experiment - 4.wmv (1.8mb)